Design and Embedded Implementation of Funnel Adaptive Sliding Mode Control for Nonlinear Systems
Year: 2026
Type: conference-paper
Abstract: This article presents a Funnel Adaptive Sliding Mode Control (FASMC) strategy for the regulation of a nonlinear system, exemplified by an inverted pendulum. The main contribution lies in combining Funnel Control (FC), which explicitly enforces transient performance constraints on the tracking error, with a sliding mode controller featuring an adaptive switching gain. The gain adaptation is performed using a Gradient Descent (GD) algorithm in conjunction with an Extended Kalman Filter (EKF), enhancing state estimation and robustness against uncertainties. The proposed FASMC is implemented on an STM32 board and validated through Processor-in-the-Loop (PIL) simulations in MATLAB-Simulink. Its performance is assessed under multiple scenarios, including nominal conditions, control input disturbances, and control input disturbances combined with parametric variations in the system model. Comparative results with a conventional Sliding Mode Controller (SMC) and an Adaptive Sliding Mode Controller (ASMC) demonstrate that FASMC achieves superior tracking accuracy, robustness, and adherence to prescribed performance bounds.
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7202377987